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The JAviator Project

The JAviator Project is a collaborative research endeavor between the University of Salzburg and IBM T.J. Watson Research Center to create high-level real-time programming abstractions for Java. It involves building a self-made 4-rotor helicopter with advanced components and designing a robust control system. The project aims to achieve autonomous flight capabilities and obstacle recognition. This text outlines the technical aspects, achievements, and future work of the project.

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The JAviator Project

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  1. The JAviator Project Rainer Trummer Computer Sciences Workshop '06 Department of Computer Sciences University of Salzburg, Austria

  2. Introduction • Collaborative research project of the • Computational Systems Group, Department of Computer Sciences, University of Salzburg • IBM T. J. Watson Research Center, Hawthorne, New York, USA • Primary project goals are to • develop high-level real-time and concurrent programming abstractions for Java • provide an infrastructure that is time-portable • verify the system on an unmanned aerial vehicle

  3. The JAviator (Java Aviator) • Self-made 4-rotor model helicopter • build of high-quality materials like carbon fiber, aluminium, and titanium • equipped with custom-made 3-phase motors • Technical data: • 1100 mm total diameter • 1600 g total weight • 4000 g maximum thrust • 1500 g maximum payload • 20 min average flight time

  4. Basic Components

  5. Machined Components

  6. 3-Phase AC Motors • Technical data: • 30 mm diameter • 30 mm height • 250 W max power (17 A at 15 V DC)

  7. Rotor Design

  8. JAviator Rotor

  9. Fuselage Design

  10. JAviator Top View

  11. Stub Frame Design

  12. JAviator Side View

  13. Control System Design • Requirements: • 4 independent controllers to stabilize roll, pitch, yaw, and altitude • Controller period in the range of milliseconds • Hard real-time software • Reliable remote connection between JAviator and ground station • Sufficient computing power for autonomous flight • Onboard navigation • Trajectory control • Obstacle recognition

  14. Embedded System

  15. Robostix Timing

  16. Gumstix Timing

  17. Control Software Design • Atmega-based C software • Time-triggered sensing and actuating • Fully deterministic controller behavior • Exotask-based Java software • Real-time software infrastructure • Each exotask has its own memory space • Each exotask has its own garbage collector • Exotask system provides time-portability • No change of original Java semantics

  18. Embedded Software

  19. Software Hierarchy

  20. First All-Java Flight • Oct 4, 2006: • Spontaneous software test • System fully operational • First Java-based flight!

  21. IBM Demo Session • Oct 5, 2006: • Official demo flights with IBM • Real-time tracing of entire system

  22. Work In Progress • Hardware: JAviator version 2 • Larger body to carry additional electronics • CNC-machined aluminium connectors • 3-dimensional laser positioning mechanics • Software: Trajectory controller • Full roll, pitch, yaw, and altitude control • Acquisition of GPS and obstacle data • Fully autonomous navigation and control

  23. Thank You!

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